Open main menu

Humanoid Robots Wiki β

K-Scale Motor Controller

Revision as of 21:54, 6 May 2024 by Matt (talk | contribs) (Requirements: add comparison for mcus)

This is the K-Scale Motor Controller design document.

Requirements

  • Microcontroller
    • STM
    • Other:
      • Integrated motor control MCUs
        • Infineon XMC4800[1]
        • NXP LPC1549[2]
        • STM32F405RG
      • For high-precision and complex control tasks with an emphasis on real-time networking and performance, the Infineon XMC4800 is suitable.
      • If budget and simplicity are key considerations, and less intensive processing is required, the NXP LPC1549 offers a good balance.
      • For a balance between performance and ecosystem support, with flexibility in hardware and software, the STM32F405RG is an excellent choice.
      • MCUs (without integrated motor control)
        • RP2040
  • Power supply
    • Assume we will have 48 volt power to the board
  • Communication
    • CAN bus
      • Other
        • Texas Instruments ISO1050DUBR [3]
    • 1 mbps
  • Sensing
    • Temperature
      • Other
        • Maxim Integrated DS18B20 [4]
    • Absolute (single turn) position
      • Other
        • Infineon TLE5012B [5]
        • AMS AS5047P [6]
    • Current sensing
      • Other
        • Allegro ACS770 [7]
  • Programming port
    • USB C

Design

References